JPS63216109A - Automatically guided vehicle - Google Patents

Abstract

PURPOSE:To easily attain the setting/revision/confirmation of a path with simple constitution by constituting the system by a setting table, a pin and a key scan circuit and providing a destination setting confirming device whose destination is set or confirmed by inserting the pin to the setting table. CONSTITUTION:The setting table 22 of a map form with holes in a form of matrix, a pin 23 inserted to the setting table 22 and a key scan circuit having an automatic reset function where the setting content is reset automatically by a moving restart trigger through the read/calculation/storage of the position of the pin 23 and the moving restart trigger, and the destination setting confirming device 1 for setting and confirming the destination comprising the setting table 22, the pin 23 and the key scan circuit, are provided corresponding to the moving range of an automatically guided vehicle. Thus, the path is set or revised easily by having only to insert the pin 23 to the setting table 22 or to depress the key and the destination is confirmed simply.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an automatic guided vehicle that travels toward a set destination.

BACKGROUND OF THE INVENTION In recent years, automatic guided vehicles have been used not only in factory automation, but also in the service field and outdoors, and are becoming increasingly necessary for special applications in harsh environments.

A conventional automatic guided vehicle will be explained.

Conventionally, to set the required multiple destinations for an automated guided vehicle, (1) input the destination coordinates and points using a numeric keypad, etc., or (2) digitize the display with a pen, etc. (3) A method was used in which a person moved the automatic guided vehicle in advance and stored the destination and route information in memory.

Problems to be Solved by the Invention However, in the configuration described in (1) above, even if coordinates and points are input, it is difficult to easily change or confirm them, and they are not visually appealing, making them unreliable. Spend on sex. In a configuration like (2), the device becomes bulky, and it costs too much to install it in each automatic guided vehicle. The problem with (3) is that it takes time and effort to set up, and it cannot be used in cases where there are many route changes or where there are no routes.

In view of the above-mentioned problems, the present invention provides an automatic guided vehicle that has a simple configuration and allows the route to be easily set, changed, and confirmed.

Means for Solving the Problems In order to solve the above problems, the automatic guided vehicle of the present invention includes a setting table in the form of a map with holes in a matrix, corresponding to the movement range of the automatic guided vehicle, and the above-mentioned automatic guided vehicle. A key scan circuit that reads, calculates, and stores the position of the bin that is inserted into the setting table, and has an auto-reset function that automatically resets the setting contents by triggering the resumption of movement, and the setting table and the bin. A destination setting confirmation device composed of the above key scan circuit, or
It is equipped with a destination setting confirmation device for setting and confirming settings, which is composed of a plurality of push button switches and LEDs.

Function: With the above-described configuration, the present invention is an unmanned system that allows you to easily set or change a route by simply inserting a bottle into the setting table or pressing a key, and also allows you to easily confirm your destination using the setting table. A transport vehicle will be provided.

EXAMPLE Hereinafter, an automatic guided vehicle according to an example of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of the present invention, and FIG. 2 shows a destination setting confirmation device employing an embodiment of the present invention.

In FIG. 1, 1 is a destination setting confirmation device, 2 is a position/direction measuring device, 3 is an obstacle detection device, 4 is a steering control device,
5 is a driving means. Further, in the destination setting confirmation device shown in FIG. 2, 22 is a setting table, and 23 is a bin.

The operation of the automatic guided vehicle configured as described above will be explained.

The automated guided vehicle whose destination has been set by the destination setting confirmation device 1 moves toward the destination and determines its current position based on signals from internal sensors such as encoders and gyros, and external sensors such as laser lighthouses. The steering control device 4 determines the destination based on signals from the position/azimuth measurement device 2, which calculates the travel direction, and the obstacle detection device 3, which detects people and obstacles in the direction of travel, which is comprised of ultrasonic sensors, etc. The driving means 5 moves while being controlled so as not to deviate from the route toward the destination and to avoid causing harm to people. Here, the destination setting confirmation device 1 will be described in detail. A map-type setting table 22 showing the movement range of the automatic guided vehicle has holes arranged in a matrix. This hole corresponds to the destination or work location of the automated guided vehicle. Here, the holes do not need to correspond exactly to the coordinates of the destination; it is sufficient that each coordinate corresponds to each hole according to the data stored in the memory. Also, setting table 2
If you place a transparent sheet, such as a polyester sheet, on which the device environment etc. are written on top of 2, you will be able to clearly see which device the hole corresponds to, making the settings easier. The destination is entered into such a setting table 22 by inserting a conductive bottle 23 or a non-conductive bottle 23 with a conductive metal at its tip. Then, by using a circuit that determines and stores the contents of the location where the bin 23 is inserted, the position of the bin 22 is converted into a coordinate value signal of the destination, which becomes a human input signal to the steering control device 4. Further, the steering control device 4 comprehensively recognizes the surrounding environment based on the signals from the position/azimuth measurement device 2 and the obstacle detection device 3, and determines an output signal to the drive means 5.

Further, FIG. 3 will be explained. Here, 31 is the central processing unit ((: centralPr
32 is a key switch control LSI, 33 is a signal line for carrying the scan signal for scanning the matrix, 34 is a signal line for carrying the return signal, 35 is the connection in the setting table 22 , 36 is a signal bus line that sends data to the CPU 31, 37 is a steering control device, 38 is a signal line for an interrupt signal that informs the key switch control LSI 32 from the steering control device 37 to the CPU 31, and 39 is the coordinates of the destination. It is a memory that stores information.

If a pin is currently inserted in this configuration, the inserted part becomes conductive and the scan signal is input to the LSI 32 as a return signal. In that way, LSI3
2 determines the position of the pin. (The internal details of the LSI 32 are omitted. A polling method in which checks are performed sequentially by a program may be used instead of using a dedicated LSI circuit.

) Here, the movement restart signal after the stop signal of the steering control device 37 is transmitted to the CPU 31 and becomes a pin reading command signal. In this way, the CPU 31 is interrupted, and the CPU 31 thereby controls the LSI 32 to issue a scan signal, starts a reading operation, and reads the internal data. The read data is converted by the CPU 31 into accurate coordinate values corresponding to the data and stored in the memory 39. With this kind of operation, for example, if a person who is near the destination wants to change the location while the automatic guided vehicle is stopped at the destination, he or she can change the pin or insert a new pin. You can easily change your destination. The automatic guided vehicle is triggered by a signal to start moving the steering control device 37, and the set contents are read. Also, the pin remains inserted on the setting table and can be easily checked.

As described above, according to this embodiment, a map-like setting table with holes in a matrix, pins to be inserted into the setting table, and pin positions are read and calculated in accordance with the movement range of the automatic guided vehicle. , a key scan circuit that stores
Destination setting confirmation device consists of a setting table, pins, and key scanning circuit, and sets the destination or confirms the destination by inserting one or more pins into the setting table.After the automatic guided vehicle arrives at the destination, By providing an auto-reset means that automatically resets the settings when a new pin is inserted or removed, routes can be easily set and changed with a simple configuration, and can be checked. I can do it.

A second embodiment of the present invention will be described below with reference to the drawings.

Figure 4 shows destination setting 1+I of the automatic guided vehicle of the second embodiment.
1 is a diagram of a verification device.

In the figure, 41 is a push button key switch for setting, 42 is a display LED, 43 is a setting cancel key, 44 is a setting confirmation key, and 45 is a clear key.

The operation will be explained below. When a destination is set using the setting key 41, an ED 42 corresponding to the set location lights up. By doing so, you can easily confirm the setting location. Here, settings can be easily made by pressing the setting confirmation key 44 for setting, and by pressing the erase key for erasing. Moreover, if you want to clear all, press the all clear key 45. Further, an all-clear function may be provided by pressing the erase key twice.

Effects of the Invention As described above, the present invention provides a setting table in the form of a map with holes in a matrix, pins to be inserted into the setting table, and reading and calculating the positions of the pins in accordance with the movement range of the automatic guided vehicle. , a destination setting confirmation device that is composed of a key scan circuit for storing, a setting table, the above-mentioned pins, and a key scan circuit, and that sets or confirms a destination by inserting one or more pins into the setting table; By providing an auto-reset means that automatically resets the settings when a new pin is inserted or removed after the automated guided vehicle arrives at its destination, or by providing a destination setting confirmation device with multiple keys, With a simple configuration with display elements, routes can be easily set and changed.
I can check again.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the present invention, Fig. 2 is a perspective view of a destination setting 1+I recognition device employing an embodiment of the present invention, and Fig. 3 is an implementation of a reset means of the destination setting confirmation device. An example block diagram, FIG. 4, is a perspective view of a destination setting confirmation device employing a second embodiment of the present invention. 1...Destination setting confirmation device, 2...Position/azimuth measurement device, 3...Obstacle detection device, 4.
... Steering control device, 5 ... Drive means, 2
2... Setting table, 23... Bin,
41.43.44.45...key, 42...
...LED for display. Name of agent Patent attorney Toshio Nakao 1 person Wk1 Figure 2 - Purpose setting a recognition

Claims (3)

[Claims] (1) A map-style setting table with holes arranged in a matrix according to the movement range of the automatic guided vehicle, pins to be inserted into the setting table, and a key scan circuit that reads, calculates, and stores the positions of the pins. and a destination setting confirmation device comprising the setting table, the pins, and the key scanning circuit, which sets or confirms a destination by inserting one or more pins into the setting table; Controls the drive of the guided vehicle to the destination indicated by the position/azimuth measuring device that measures the current location and traveling direction of the guided vehicle, the obstacle detection device that detects the presence or absence of obstacles or routes, and the destination setting confirmation device mentioned above. a steering control device;
An automated guided vehicle comprising: a drive means for moving the guided vehicle according to commands from the steering control device. (2) The key scan circuit of the destination setting confirmation device is equipped with an auto-reset means that automatically resets the setting contents by a movement restart trigger output from the steering control device after the automatic guided vehicle arrives at the destination. An automatic guided vehicle according to claim (1), characterized in that: (3) The destination setting confirmation device includes multiple keys for setting and canceling destinations instead of pins, and display elements arranged in a matrix that shows the set destinations instead of a setting table. An automatic guided vehicle according to claim (1), characterized in that it is constituted by: